Sensual domination is generally considered to include a slightly softer side of domination within BDSM play.

The idea behind this though is that the power of the dominant over the submissive is achieved through sensuality rather than through cruelty and strictness.

In this sense, sensual domination does not necessarily have to be softer, but is merely more of a psychological experience than a physical one, although it is unlikely that many of the harder, more extreme practices would take place within a sensual domination scenario.